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    • 专利摘要:
    apparatus and aid method for parking. in order to provide help for parking even in a situation where it is predicted that a vehicle end part will be in contact with an obstacle, an available parking space (101) is defined and a target parking position is defined within the space available for parking (101). when it is determined that the end portion of the vehicle will contact an end portion of the available parking space (101) if the vehicle moves to be parked in the target parking position, an entry angle (<sym> 1) of the vehicle with respect to the available parking space (101) is changed so that the vehicle can be moved to a target parking space (102) with the vehicle end portion spaced from a front end point p of the space available for parking (101), and a parking path for the vehicle to move to a target non-final parking position (102 <39>) is calculated.
    公开号:BR112012031582B1
    申请号:R112012031582-0
    申请日:2011-05-27
    公开日:2020-02-18
    发明作者:Teruhisa Takano；Daisuke Tanaka
    申请人:Nissan Motor Co., Ltd.；
    IPC主号:
    专利说明:

    “APPARATUS AND AID METHOD FOR PARKING”
    Technical field [001] The present invention relates to a parking aid apparatus and method for presenting to a driver information for parking a vehicle.
    Prior Art [002] An apparatus described in Patent Literature 1 indicated below is known as a parking aid apparatus configured to present a driver with information for parking a vehicle.
    [003] Patent Literature 1 reports that, when executing the parking aid, the parking aid apparatus displays a predicted path from one end of a vehicle in a panoramic image including the vehicle. The parking aid device thus allows the driver to easily check for a possibility that the vehicle may come into contact with an obstacle while moving backwards because of the difference in turning radius between the outer wheels.
    List of references
    Patent Literature [004] Patent Literature 1: Publication of Japanese patent application 2004-252837.
    Summary of the invention
    Technical problem [005] The parking aid apparatus described above, however, only displays the predicted path of the vehicle end, and has the problem of being unable to perform any assistance to park when the predicted path of the vehicle end is in contact with the obstacle.
    [006] The present invention has been made in consideration of the circumstance described above, and has an objective of performing assistance to park even in a situation where the vehicle end is predicted to come into contact with an obstacle.
    Solution to the Problem [007] The present invention defines a final target parking position within an available parking space, and decides whether there is
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    2/33 or not a first path for a vehicle to reach the target final parking position without contacting an end portion of the available parking space. When a decision indicates that the first path exists, the first path is displayed.
    [008] On the other hand, when a decision indicates that the first path does not exist, the present invention calculates: an entry angle enabling the vehicle to enter the available parking space without coming into contact with the end part of the available space for parking; and a target non-final parking position which is a position to be reached when the vehicle enters the available parking space using the entry angle. Then, the present invention calculates a second path for the vehicle to reach the target non-final parking position and a third path for the vehicle to reach the target final parking position from the target non-final parking position, and displays the second path and the third way.
    Effects of the Invention [009] According to the present invention, since the angle of entry of the vehicle with respect to the available parking space and the target non-final parking position are defined in a case where it is determined that an end part of the vehicle will come into contact with an end part of the available parking space when the vehicle moves to be parked in the final target parking position, thus, help with parking can be provided even in a situation where the end part of the vehicle is predicted to come into contact with an obstacle.
    Brief description of the drawings [010] Figure 1 is a block diagram showing the configuration of a parking aid system shown as an embodiment of the present invention.
    [011] Figure 2 is a top view showing the positions of vehicle-mounted ultrasonic cameras and sonars, which are installed in a vehicle, in the parking aid system shown as the mode of the present invention.
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    3/33 [012] Figure 3 is an image view showing an example of a panoramic image displayed on a display in the parking aid system shown as the mode of the present invention.
    [013] Figure 4 is a top view showing a situation where an available parking space and a target final parking position are defined in the parking aid system shown as the mode of the present invention.
    [014] Figure 5 is a top view illustrating lanes shown on the display in the parking aid system shown as the mode of the present invention.
    [015] Figure 6 is a top view showing a situation where the vehicle does not come into contact with a front end point of the space available for parking in the parking aid system shown as the embodiment of the present invention.
    [016] Figure 7 is a top view showing a situation where the vehicle comes into contact with the front end point of the space available for parking in the parking aid system shown as the mode of the present invention.
    [017] Figure 8 is a flowchart showing processing procedures for parking aid, in which the parking aid system shown as the mode of the present invention calculates a path by defining an entry angle and a target non-final parking position. .
    [018] Figure 9 is a top view illustrating processing to determine a target non-final parking position and an entry angle Θ1 in the parking aid system shown as the embodiment of the present invention.
    [019] Figure 10 is a top view illustrating processing to determine a target non-final parking position and an entry angle Θ2 in the parking aid system shown as the embodiment of the present invention.
    [020] Figure 11 is a top view illustrating processing to determine a distance to a starting position of backward travel in the parking aid system shown as the prePetition mode 870190107646, of 10/23/2019, pg. 11/46
    4/33 feels invented.
    [021] Figure 12 is another top view illustrating processing to determine a distance to a position of starting backward travel in the parking aid system shown as the embodiment of the present invention.
    [022] Figure 13 is a top view showing how the parking aid system shown as the mode of the present invention causes the longitudinal direction of the vehicle to be parallel to the longitudinal direction of the available parking space. Specifically, figure 13 (a) shows a state where the vehicle moves forward when turning from a parallel parking completion position, figure 13 (b) shows a state where the vehicle moves backward when turning from a position P5, and figure 13 (c) shows a state where the vehicle is moved forward by turning from a position P6.
    [023] Figure 14 is also another top view showing how the parking aid system shown as the mode of the present invention causes the longitudinal direction of the vehicle to be parallel to the longitudinal direction of the available parking space. Specifically, figure 14 (a) shows a state where the vehicle is moved forward when turning from the parallel parking completion position, and figure 14 (b) shows a state where the vehicle is moved straight back to from position P5.
    [024] Figure 15 is another top view showing how the parking aid system shown as the mode of the present invention causes the longitudinal direction of the vehicle to be parallel to the longitudinal direction of the available parking space. Specifically, figure 15 (a) shows a state where the vehicle is moved forward by turning from position P6, figure 15 (b) shows a state where the vehicle is moved straight back from position P7, and figure 15 (c) shows a state where the vehicle is moved forward when rotating from a position P8.
    Description of embodiments [025] One embodiment of the present invention is described below with reference to the drawings.
    Help system configuration for parking
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    5/33 [026] Figure 1 is a configuration diagram showing the configuration of a parking aid system to which the present invention is applied. This parking aid system is configured to calculate a path to guide a vehicle to a target parking position, and to automatically control the vehicle's direction so that the vehicle can move along the path.
    [027] The parking aid system is configured in such a way that a parking aid controller 10 is connected to: four vehicle-mounted cameras 1a to 1d configured to obtain images of the vehicle's environment; ultrasonic sonar arranged in left and right pair 2a, 2b configured to measure the positions of objects on the left and right sides of the vehicle; a dial 3 configured to display a panoramic image of the vehicle and its environment; a steering driver 4 configured to drive the vehicle's steering; an operating input device 5 configured to receive an operating input from the driver; a steering angle sensor 6 configured to detect the vehicle's steering angle; and a vehicle speed sensor 7 configured to detect the vehicle speed of the vehicle.
    [028] It should be noted that although the display by the dial 3 and the directional drive by the directional trigger 4 are used as an example of presenting help information for parking regarding things such as a path and a parking position of a car. vehicle V in the present modality, the method of presentation is not limited to this. Parking help information can be displayed via audio.
    [029] Each of the vehicle-mounted cameras 1a to 1d is formed by a CCD (Coupled Load Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera having a wide imaging angle of about 180 °, for example . These four vehicle-mounted cameras 1a to 1d are mounted on vehicle V in appropriate locations in order to be able to obtain images of all areas surrounding the vehicle.
    [030] Specifically, as shown in figure 2, for example, the vehicle-mounted camera 1a, the vehicle-mounted camera 1b, the camera
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    6/33 mounted on vehicle 1c and the camera mounted on vehicle 1d are attached to the front grille, the rear binder, the right door mirror and the left door mirror of vehicle V, respectively. Each of vehicle-mounted cameras 1a to 1d takes an image of an area in its predetermined range surrounding the vehicle, in a direction that is slanted downwards towards the road surface.
    [031] Each of the ultrasonic sonar 2a, 2b is configured to transmit ultrasonic waves and receive reflected waves that return after being reflected in an object. Each of the ultrasonic sonar 2a, 2b converts the time from the transmission of the ultrasonic waves to the reception of them in a distance to measure the distance to the object. As shown in figure 2, ultrasonic sonar 2a, 2b are attached to the right side and left side of vehicle V, respectively. Ultrasonic sonar 2a, 2b are installed so that their detection directions can be substantially perpendicular to the direction of travel of the vehicle V.
    [032] Each of these ultrasonic sonar 2a, 2b is used as an obstacle detection device to measure the position of an obstacle such as another vehicle parked near the target parking position of vehicle V. It should be noted that any device can be used as the obstacle detection device as long as it is able to measure the position of an obstacle. For example, a different device, such as a laser radar or millimeter wave radar, can be used instead of ultrasonic sonar 2a, 2b, for example.
    [033] Display 3 is a display device, such as a liquid crystal display, installed inside the vehicle compartment. Display 3 displays panoramic images of the vehicle environment and various pieces of parking help information generated by the parking help controller 10.
    [034] The operation of the steering controller 4 is controlled by the parking help controller 10. According to the control by the parking help controller 10, the steering drive 4 drives the vehicle V steering. For example, an engine steering drive of an electrical system
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    7/33 power steering configured to electrically assist steering operations by the driver of a vehicle is used as the steering driver 4.
    [035] The operating input device 5 receives several operational inputs made by the driver of the vehicle V. The operating input device 5 is formed, for example, from a directional key or a touch panel. When the driver enters an operation, the operation input device 5 introduces an operation signal according to the operation entered in the park assist controller 10.
    [036] The steering angle sensor 6 inputs information about the steering angle of the vehicle V into the help controller to park 10 as needed.
    [037] Vehicle speed sensor 7 inputs information about vehicle speed V into the help controller to park 10 as needed.
    [038] The park assist controller 10 is configured including a microcomputer that operates according to a predetermined processing program, for example. The park assist controller 10 implements several functions for park assist by means of the processing program executed on the microcomputer CPU.
    [039] Specifically, the parking aid controller 10 receives images obtained by the four vehicle-mounted cameras 1a to 1d, converts the viewing points of these images to obtain each of the images seen from a virtual point of view above the vehicle according to a predetermined coordinate transformation algorithm, and joins the images together. The parking assist controller 10 thus generates a panoramic image in which the vehicle environment is seen from above the vehicle, and displays the panoramic image generated from the vehicle environment on the display 3.
    [040] Figure 3 shows an example of the panoramic image of the vehicle environment displayed on the display 3. In this example image, Region A1 represents an image obtained by converting the point of view of an image obtained by the camera mounted on vehicle 1a fixed to the front grille. Region A2 represents an image obtained by converting the point of view of an image
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    8/33 gem obtained by the camera mounted on vehicle 1 b fixed to the rear bidder. Region A3 represents an image obtained by converting the point of view of an image obtained by the camera mounted on vehicle 1c fixed to the right door mirror. Region A4 represents an image obtained by converting the point of view of an image obtained by the camera mounted on a 1d vehicle fixed to the left door mirror.
    [041] It should be noted that a vehicle position mark indicating the vehicle's position is in the center of the panoramic image, and is superimposed there as a computer graphic image. As shown by the image example in figure 3, the panoramic image shown on display 3 is an image with which the driver can check a 360 ° environment situation of the vehicle with the vehicle in the center, such as looking down from above the vehicle.
    [042] The parking aid controller 10 performs definitions of an available parking space, a target final parking position and more to park vehicle V. Using information about obstacles, such as other vehicles, detected by sonar ultrasonic 2a, 2b, the park assist controller 10 defines an area having no obstacles as an available parking space, and defines a final target parking position within the available parking space. Alternatively, the parking aid controller 10 can recognize the positions of real lines or obstacles based on the images obtained by vehicle-mounted cameras 1a to 1d, define an area having no obstacles as the available parking space and can define the position final target parking space within this available parking space.
    [043] Let us consider a case where, as shown in figure 4, vehicle V is moved straight and parked in parallel in an available parking space 101 on the left. When vehicle V moves in parallel with other vehicles parked in parallel V1, V2, ultrasonic sonar 2b can detect the front end of the other V2 vehicle and the rear end of the other V1 vehicle. Thus, the parking aid controller 10 identifies an available parking space between the front end
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    9/33 the other vehicle V2 and the rear end of the other vehicle V1. For example, as shown in figure 4, the available parking space 101 is recognized by the parking assist controller 10 as position information indicating a shape covering the rear corner of the other vehicle V1 and position information indicating a shape covering the front corner part of the other V2 vehicle.
    [044] After recognizing the available parking space 101, the parking aid controller 10 defines a target final parking position 102 within the available parking space 101. The parking help controller 10 defines a spaced area within the available space for parking 101 for a certain distance d, as the target final parking position 102. For example, the park assist controller 10 defines a position spaced from the front corner of the other vehicle V2 by a certain distance d, as the position target end parking position 102. In addition, the park assist controller 10 defines target end parking position 102 so that its area can match the size of vehicle V.
    [045] A description of the definition of the target final parking position 102 is given by the help controller to park 10 in response to an operation by the driver. Figure 5 is a schematic diagram showing a scene where vehicle V is to be parked in parallel. Here, we will consider a case where the target final parking position 102 is defined in the vacant available parking space 101 between the other vehicle V1 and the other vehicle V2, and vehicle V is parked in this target final parking position 102 when moving back.
    [046] In this case, images obtained by the four cameras mounted on vehicle 1a to 1d attached to vehicle V are subjected to the transformation of the point of view and combined together. A panoramic image is thus generated, and is shown on display 3. For example, when the driver of vehicle V performs an operation input in order to specify, as target final parking position 102, any position on the panoramic image shown on the display 3 using the operation input device 5, the park assist controller 10 can perform processing to set the
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    10/33 position specified as the target end parking position 102 of vehicle V. In this case, the park assist controller 10 mobilely displays a picture frame (target end parking position 102) having a size corresponding to that of vehicle V, in the panoramic image shown on the display 3. Then, the driver of vehicle V shifts the target final parking position 102 to a desired position on the panoramic image using the operating input device 5. Thus, the target final parking position 102 can be set in any position desired by the driver. Operability improves when the vehicle's final target parking position 102 of vehicle V can be defined by operations on the panoramic image in the mode indicated above.
    [047] The parking aid controller 10 calculates a path to park vehicle V in parallel at the target end parking position 102. Specifically, based on the positional relationship between the defined target end parking position 102 and the stop position of the vehicle, the parking assist controller 10 calculates a path for vehicle V to reach target final parking position 102 while avoiding obstacles present at the front and rear of the available parking space 101.
    [048] Based on the path thus calculated, the park assist controller 10 provides park assistance so that vehicle V can be parked in parallel along the way. For example, when displaying the parallel parking path on display 3, the park assist controller 10 can provide parking assistance in which the parallel parking path is presented to the driver. In addition, the park assist controller 10 can perform park assist by providing audio guidance of directions and steering angles. In addition, the park assist controller 10 can perform park assist by controlling the directional actuator 4 so that vehicle V can move along the path.
    [049] For example, by automatically controlling the direction of vehicle V so that vehicle V can be moved along the way, the park assist controller 10 calculates, as needed, an angle
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    11/33 target steering angle to move the vehicle V along the calculated path, while calculating the position and orientation of the vehicle V by monitoring the detection values given by the steering angle sensor 6 and the vehicle speed sensor 7 as required. The parking aid controller 10 then automatically controls the direction of the vehicle V by controlling the operation of the steering trigger 4 in order to zero the deviation between the target steering angle and the actual steering angle detected by the steering angle sensor. 6.
    [050] In the following, the operations of the parking aid system of the present mode configured as indicated above are described, considering a specific parking scene. Figures 6 and 7 are schematic diagrams showing a scene where vehicle V is parked in parallel at the final target parking position 102.
    [051] As shown in figure 6, vehicle V starts parking in parallel when being moved forward from an initial position P1 confronting the available parking space 101. First, vehicle V is moved forward to a position start of backward shift P2. Thereafter, vehicle V is moved backwards with the steering wheel fixed at a predetermined steering wheel angle, rotating around a backward turning center C2 to reach a retraction position P3. This predetermined steering wheel angle is an angle of the steering wheel that allows the vehicle V to be moved backwards from the start position of the backward travel P2 so that the end part of the vehicle V can reach a path of vehicle end 103 in figure 6.
    [052] Next, vehicle V is rotated around a backward turning center C1 with the steering wheel being fixed at a predetermined steering wheel angle that is obtained by turning the steering wheel in one direction opposite (that is, by retracting the steering wheel) to the angle of the steering wheel of moving vehicle V backwards from the starting position of the backward movement P2 to the retracting position P3. Thus, vehicle V can reach a parking completion position in parallel P4 matching the target final parking position 102.
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    12/33
    This predetermined steering wheel angle indicates a certain steering wheel angle and, in this example, allows the vehicle V to be moved back around the center of the forward displacement C1 so that the end part of the vehicle V can be placed in contact with the vehicle end path 103. When executing the parking aid according to the execution procedure in this way, the parking aid controller 10 can guide the vehicle V to the target final parking position 102 without wasting space.
    [053] Parking assistance can be performed in the travel procedures shown in figure 6 when a longitudinal length ls of available parking space 101 is so large that the vehicle end path 103 from the retraction position P3 to the position of target end parking 102 does not come into contact with a front end point P of the available parking space 101, as shown in figure 6. As shown in figures 4 and 5, the front end point P of the available parking space 101 is equal to the right-hand rear end point of the other vehicle V1 parked in front of the target end parking position 102, between the positional information pieces indicating the available parking space 101. In figure 6, the vehicle end path 103 is a trail (first path) from the left front end of vehicle V moving to behind the retraction position P3 to the final target parking position 102. In other words, vehicle end path 103 indicates a movement path (the first path) of a part of vehicle V that is closest to the stop point front end P than any other end parts of vehicle V.
    [054] However, as shown in figure 7, when the longitudinal length sl of the parking space 101 is small, the front end point P is closer to the center of the backward turning C1 than the path of vehicle end 103 from retraction position P3 to target end parking position 102. For this reason, if vehicle V moves along vehicle end path 103, the left front end part of vehicle V will enter
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    13/33 in contact with the other V1 vehicle parked in front of the available parking space 101.
    [055] To avoid this, when vehicle V is predicted to come into contact with the other vehicle V1, the parking aid system defines an entry angle with respect to the available parking space 101 and a target non-final parking position which is different from the target end parking position 102 so that vehicle V can travel to target end parking position 102 with the end part of vehicle V spaced from the end part of the available parking space 101. Thus, the park assist controller 10 calculates a path (second path) for vehicle V to be parked in the target non-final parking position, without a contact between the vehicle's end end V and the front end point P of the available parking space 101. This target non-final parking position is defined by modifying, or tilting, the target final parking position 102.
    Parking Assistance Processing Using Parking Assistance System [056] The parking assistance system to which the present invention is applied as described above performs parking assistance processing according to the processing procedures shown in figure 8.
    [057] First, in Step S1, in the parking help system, the parking help controller 10 defines the available parking space 101 and the target final parking position 102.
    [058] Next, in Step S2, the park assist controller 10 decides whether or not the end portion of vehicle V will contact the end portion of the available parking space 101 when vehicle V moves to be parked in the target final parking position 102 defined in step 1.
    [059] In this process, the park assist controller 10 decides whether or not the vehicle end V will contact the front end point P of the available parking space 101 when vehicle V is rotated to the parking position. final target parking 102
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    14/33 around the backward turning center C1 as shown in figures 6 and 7. In other words, the park assist controller 10 decides whether or not there is a first path for vehicle V to reach the position of target end parking 102 without contacting the end part of the available parking space 101. In this decision, based on the location of target end parking position 102 and the vehicle's turning radius V, the park assist controller 10 calculates vehicle end path l03 for vehicle V to rotate to target final parking position 102 around the backward turning center C1. The parking assist controller 10 decides that the vehicle end part V will contact the front end point P of the available parking space 101 when the front end point P of the available parking space 101 is closest to the center displacement turning C1 than vehicle end path l03 is.
    [060] When deciding that vehicle V will not come in contact with the front end point P of the available parking space 101, the park assist controller 10 determines that retraction does not need to be done again after reaching the final parking position target 102, and proceed to Step S3. On the other hand, when deciding that vehicle V will contact the front end point P of the available parking space 101, the park assist controller 10 determines which kickback needs to be done again after reaching the target final parking position 102, and proceed to Step S5.
    [061] When parking in parallel, the first withdrawal is made when vehicle V starts to move from the withdrawal position P3 to the termination position in parallel parking P4. The new setback in Step S2 is setback to guide vehicle V that has been guided to a target non-final parking position defined by changing the angle of target parking position 102, to become parallel to the available parking space 101.
    [062] In Step S3, the parking help controller 10 calculates a first path from the start position P1 to the start position
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    15/33 backward movement P2, then from the backward start position P2 to the backward position P3, and then from the backward position P3 to the parallel parking end position P4, as shown in figure 6. In this calculation, the park assist controller 10 calculates the first path from the retraction position P3 to the completion position of parallel parking P4 by obtaining the retraction position P3 which is a position from which vehicle V is rotated to the parallel parking completion position P4 around the center of the backward swing C1. The park assist controller 10 then calculates a path from the backward start position P2 to the backward position P3 by obtaining the backward start position P2 which is a position from which the vehicle V is rotated to the retraction position P3 around the backward turning center C2. The park assist controller 10 then calculates a path from the start-up position P2 to the start-up position P1 as a path from the start-up position P1 to the start-up position P2.
    [063] In step 5, the park assist controller 10 calculates an ideal angle of the target final parking position 102 with respect to the available parking space 101, the angle of which allows vehicle V to move to the target final parking position 102 while staying away from the end portion of the available parking space 101. Next, in Step S6, the park assist controller 10 calculates a second path to a defined target non-end parking position 102 'using the defined entry angle in Step S5. The processing in each of Step S5 and Step S6 will be described later.
    [064] In Step S4, the help controller for parking 10 displays the first path calculated in Step S3 or the second path calculated in Step S6 on display 3. In this display, it is desirable for the information displayed by the help controller to park 10 include information regarding things such as travel directions and steering wheel angles to guide vehicle V to the calculated first or second route. The parking aid controller 10 thus executes the parking aid for parallel parking.
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    Processing To Change Target Parking Position 102 [065] The following is a description of the processing to define the entry angle and target non-final parking position 102 'in Step S5 and the processing to calculate the second path in Step S6 .
    [066] Figure 9 is a schematic diagram showing first processing to define an entry angle Θ1 with respect to the available parking space 101 by means of processing to change the target parking position 102.
    [067] The parking assist controller 10 changes the angle of the target parking position 102 with respect to the available parking space 101, and thus sets the entry angle Θ1 with respect to the available parking space 101 so that the trail of the parking vehicle end part V moving forward from the changed target non-end parking position 102 'with a predetermined turning radius can maintain a certain distance from the front end point P of the available parking space 101. Here, the part vehicle end cap V is a corner part on the side of vehicle V outer wheels. Additionally, the front end point P of the available parking space 101 is an end part of an obstacle present in front of the available parking space 101.
    [068] As shown in figure 9, the park assist controller 10 defines target non-final parking position 102 '(a parallel parking completion position P4') by tilting target parking position 102 with respect to parking space 101 through entry angle Θ1.
    [069] We will consider a second path in which vehicle V moves backwards from the start position of backward travel P2 to the target non-end parking position 102 'through a backward position P3'. When the longitudinal length sl of the parking space 101 is small, the target non-final parking position 102 'needs to be determined so that a vehicle end path 103' to be followed by an outer wheel side corner Q of vehicle V on the way from the retraction position P3 'to the position
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    17/33 target non-final parking 102 'maintain the predetermined distance d from the front end point P of the available parking space 101.
    [070] For this purpose, the entry angle Θ1 satisfying Formula 1 below is obtained for the vehicle's backward turning center C1 moving backwards from the retraction position P3 'with a steering wheel angle predetermined direction. As shown in figure 9, this predetermined steering wheel angle is a steering wheel angle that allows the left front end part of the vehicle V not to contact the front end point P of the available parking space 101 when vehicle V moves backwards from the retraction position P3 'along the vehicle end path 103'.
    [071] Here, we will consider a coordinate system whose x and y axis represent the horizontal and vertical directions of figure 9, respectively, and whose ordinate origin O represents the left corner part of an obstacle in front of the available space for parking 101.
    PCiP - d = CiQ (Formula 1)
    Px = sw, Py = O (Formula 2)
    C1x = (w + r) χsenΘ1 + rohχcosΘ1 (Formula 3)
    C1y = sl-rohχsenΘ1 + rχcosΘ1 (Formula 4), where the longitudinal length of the parking space 101 is sl, the width of the parking space 101 is sw, the length of the vehicle V is 1, the width of the vehicle V is w, a distance from the axle of the rear wheels of the vehicle V to one end of the vehicle chassis V (rear overhang) is roh, the turning radius of the vehicle V moving backwards from the retraction position P3 'is r, the coordinate value of the front end point P is P (Px, Py), and the coordinate value of the center of the backward swing C1 is C1 (C1x, C1y). Through these Formulas 2, 3 and 4, the equations below are valid.
    C1Q 2 = (r + w) 2 + (l-roh) 2 (Formula 5)
    C1P 2 = {(w + r) χsenΘ1 + rohχcosΘ1 -sw} 2 + (sl-rohχsenΘ1 + rχcosΘ1) 2 (Formula 6)
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    18/33 [072] Therefore, by replacing Formulas 5 and 6 in Formula 1 to solve Formula 1 for angle Θ1, the entry angle Θ1 with respect to the available parking space 101 can be obtained.
    [073] By means of the first processing indicated above to change the target parking position 102, the park assist controller 10 can define the entry angle and the non-final target parking position 102 'resulting from changing the angle of the parking position target parking 102 according to the longitudinal length sl of the available parking space 101. Thus, the parking aid system can execute the parking aid that prevents the outer corner side part Q of the vehicle V from coming into contact with the front end point P of the parking space 101 even when the parking space 101 is small. In addition, even when it appears to the driver that the available parking space 101 is too small to park in parallel, the parking aid system can guide the vehicle V to target parking position 102 'to enable the driver to park in parallel.
    [074] Additionally, as shown in figure 9 described above, the parking aid system can not only perform processing to change the entry angle Θ1 with respect to the available parking space 101, but can also obtain an entry angle Θ2 with respect to the space available for parking when performing second processing to change the target parking position 102, which will be described below.
    [075] In the second processing to change the target parking position 102, the entry angle Θ2 with respect to the available parking space 101 is defined so that, on the trail of the vehicle's end part V moving straight from the position completed parallel parking completion P4 ', the trail of the vehicle end portion V on the side facing the inside of the available parking space 101 can maintain a certain distance from the end portion of the available parking space 101. Here, the end part of vehicle V is a corner part of vehicle V on the outer wheel side (a
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    19/33 left front end part). Additionally, the front end point P of the parking space 101 is an end part of an obstacle present in front of the parking space 101.
    [076] Figure 10 is a schematic diagram showing processing to define the entry angle Θ2 with respect to the available parking space 101 by means of the second processing to change the target parking position 102.
    [077] Here, we will consider a second path for vehicle V to travel backwards from the start position of backward travel P2, and reach the target non-end parking position 102 'through the retraction position P3'. When the longitudinal length sl of the parking space 101 is small, the parking assist controller 10 defines the entry angle Θ2 with respect to the parking space 101 so that, between the tracks of the four end parts of the vehicle V moving straight from target non-final parking position 102 ', the trail of the vehicle end end V on the side facing the inside of the available parking space 101 (a straight line A) can maintain a certain distance d from the front end point P of available parking space 101.
    [078] When defining the entry angle Θ2 of vehicle V, the operation of vehicle V from the retraction position P3 'to the target non-final parking position 102' is to move the vehicle V back with the steering wheel in a substantially neutral position. In this way, the trail from the retraction position P3 'to the target non-final parking position 102' is substantially straight.
    [079] As shown in figure 10, an intersection between an extended line of a straight line B forming the available parking space 101 and straight line A is indicated by P11. Furthermore, an intersection between the available parking space 101 and a perpendicular to the available parking space 101 through the intersection P11 is indicated by P12, and an intersection between the straight line A and the available parking space 101 is indicated by P13. Additionally, when
    Petition 870190107646, of 10/23/2019, p. 27/46
    20/33 longitudinal length sl of parking space 101, width sw of parking space 101 and length l of vehicle V, and width w of vehicle V are used as described above, the following equations are valid .
    segment P11P12 = sw (Formula 7) segment P12P13 = sl-d / cos02-wcos02 (Formula 8) [080] For ÁP11P12P13, the following equation is valid.
    tan02 = P12P13 / P11P12 (Formula 9) [081] When replacing Formulas 7 and 8 in Formula 9, the following equation is obtained.
    tan02 = (sl-d / cos02-wcos02) / sw (Formula 10) [082] When this Formula 10 is resolved to angle 02, the entry angle 02 which is an angle formed by the target non-final parking position 102 ' and available parking space 101 can be obtained.
    [083] By means of the second processing described above to change the target parking position 102, the park assist controller 10 can define the entry angle and the target non-final parking position 102 'resulting from changing, according to available parking space 101, target parking position 102 to guide vehicle V. Thus, as shown with a track A1 in figure 10, the parking aid system enables vehicle V to turn around the center of rotation of backward shift C from the backward start position P2 to the backward position P3 'and to move straight from the backward position P3' to the target non-end parking position 102 '. Thus, even when the available parking space 101 is small, vehicle V can be provided with the help of parking which prevents the outer corner side part of vehicle V from contacting the front end point P of the parking space 101. Additionally, even when it appears to the driver that the parking space 101 is also small for parking in parallel, vehicle V can be guided to the target non-final parking position 102 'to enable the driver to park in parallel.
    [084] It should be noted that the parking aid controller 10
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    21/33 can calculate multiple second paths including: the path, shown in figure 9, for the vehicle to move to the target non-final parking position 102 'when turning; and the path for the vehicle to travel straight to the target non-end parking position 102 ', so the park assist controller 10 is also capable of displaying the multiple second paths.
    [085] A comparison is now made between the first processing to change the target parking position 102 and the second processing to change the target parking position 102. Compared to the second processing to change the target parking position 102, the first processing to changing target parking position 102 can reduce the number of setbacks to make the orientation of vehicle V parallel to the available parking space 101 after the vehicle is stopped at an angle with respect to the available parking space 101 by the entry angle Θ1.
    [086] The reason for this is as follows. As shown in figure 9, vehicle V is moved from the retraction position P3 'to the parallel parking completion position P4' when turning. Consequently, the entry angle Θ1 obtained by the first processing to change the target parking position 102 can be made smaller than the entry angle Θ2 obtained by the second processing to change the target parking position 102.
    [087] However, the first processing to change the target parking position 102 causes the vehicle V to rotate while moving from the retraction position P3 'to the parallel parking completion position P4'. For this reason, the corner part (the front point P) of the vehicle in front approaches the outer corner side part Q of the vehicle V. In this way, the help to park through the first processing to change the position of target parking 102 is more likely to give the driver an impression of discomfort than that by the second processing to change target parking position 102.
    [088] In contrast, the second processing to change the target parking position 102 causes vehicle V to move backward substantially straight while moving from the retraction position P3 'to the position of
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    22/33 completion of parallel parking P4 '. Thus, the distance between the corner part (the front end point P) of the vehicle V in the front and the side corner part of the outer wheel Q of the vehicle remains unchanged, not giving an impression of discomfort to the driver.
    [089] However, the entry angle Θ2 obtained by the second processing to change the target parking position 102 is greater than the entry angle Θ1 obtained by the first processing to change the target parking position 102. This results in the greatest number of setbacks to make the orientation of vehicle V parallel to the available parking space 101 after being stopped at the parallel parking completion position P4 '.
    Processing To Calculate Path To Changed Target Parking Position 102 '[090] The following is a description of the processing to calculate a path for vehicle V to move from initial position P1 to the parallel parking completion position P4' after the entry angle and the target non-final parking position 102 'are defined as described above.
    [091] Figure 11 is a schematic diagram illustrating first path calculation processing. The first path calculation processing is performed after the first processing to change the target parking position 102.
    [092] When parking in parallel, vehicle V is moved forward from the starting position P1 to the starting position of the backward movement P2 with the steering wheel in neutral. Then, the steering wheel is turned to the left, and vehicle V is moved backwards to the retraction position P3 'with the steering wheel angle being fixed. At this steering wheel angle, vehicle V is allowed to move backwards until the end portion of vehicle V comes into contact with vehicle end path 103 '. In addition, the steering wheel is turned to the right in the retraction position P3 'and the vehicle V is moved backwards to the parallel parking completion position P4' with the steering wheel angle being fixed. This steering wheel angle allows
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    23/33 vehicle V moves backwards while the end portion of vehicle V follows the vehicle end path 103 '.
    [093] To guide vehicle V in such a way, the park assist controller 10 obtains a distance d1 from the starting position P1 to the starting position of the backward travel P2.
    [094] First, an x-axis and a y-axis are defined for the coordinate system. The origin of the ordinates O (0,0) is defined for the center of the rear wheel axle in the starting position P1, the center of the rear wheel axle in the starting position of the rear shift P2 is defined for S (Sx, Sy) , and the center of the rearward displacement of vehicle V moving backwards from the start position of the rearward displacement P2 with a predetermined steering wheel angle is set to C2 (C2x, C2y). So, the following equations are valid.
    Sx = 0 (Formula 11)
    Sy = d1 (Formula 12)
    C2x = -w / 2-r (Formula 13)
    C2y = d1 (Formula 14) [095] In figure 11, once the coordinate of the backward turning center C1 has already been obtained as described with reference to figure 9 indicated above, and since the distance between the center of the backward shift C1 and the center of the backward shift C2 is 2xr + w, an equation to follow is valid.
    (C1x-C2x) 2 + (C1y-C2y) 2 = (2xr + w) 2 (Formula 15) [096] The distance d1 from the starting position P1 to the starting position of the backward travel P2 can be obtained by replacing the Formulas 13 and 14 in Formula 15. It should be noted that, since the coordinate of the ordinate origin shown in figure 9 is changed as shown in figure 11, Formulas 3 and 4 described above cannot be used as they are, and need to be converted to those in the coordinate system of the origin of ordinates O shown in figure 11 to obtain the center of backward turning C1.
    [097] As in the case of starting the help to park in the starting position of the backward travel P2, the retraction position P3 'to
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    24/33 rotating the steering wheel in the opposite direction along the path to the target non-final parking position 102 'can be obtained in a similar way. In other words, the backward turning center C2 of the vehicle V moving backwards from the backward start position P2 with a predetermined steering wheel angle is defined as shown in Formulas 13 and 14, and the retraction position P3 'is defined to the position in which the corner part of the vehicle V comes into contact with the vehicle end path 103' when the vehicle V moves backwards at a predetermined steering wheel angle to move backwards from the start position of the backward shift P2 around the center of the backward swing C2.
    [098] Figure 12 is a schematic diagram illustrating second path calculation processing. The second path calculation processing is performed after the second processing to change target parking position 102.
    [099] The park assist controller 10 obtains a distance d1 from the starting position P1 to the starting position of the backward travel P2. As shown in figure 12, an x-axis and a y-axis are defined for a coordinate system, and the origin of ordinates O (0,0) is defined for the center of the axis of the rear wheels at the initial position P1. The park assist controller 10 defines the vehicle's center of rotation V moving backwards from the retraction position P3 'with any steering wheel angle to C (Cx, Cy). The distance d1 between the starting position P1 and the starting position of the backward travel P2 is obtained using the condition that r is the distance between the straight line A and the turning center C of the vehicle V moving backwards from the start position of P2 backward travel. First, since the slope of straight line A to the longitudinal direction of the available parking space 101 is tan02 and straight line A crosses straight line B at the intersection P11 (Px, Py), the equation expressing straight line A satisfies :
    y-Py = tan02x (x-Px) (Formula 16) tan02xx-y + (Py-Pxxtan02) (Formula 17) [0100] Since the distance between the center of rotation C and the straight line A is r, the equation the following is valid.
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    25/33 | tan02xCx-Cy + (Py-Pxxtan02) | / [(tan02) 2 +1] 1/2 = r (Formula 18) [0101] Here, the following equations are valid.
    Cx = - (r + W / 2) (Formula 19)
    Cy = -d1 (Formula 20) [0102] Therefore, the distance d1 between the starting position P1 and the starting position of the backward shift P2 can be obtained by replacing Formulas 19 and 20 in Formula 18.
    [0103] As in the case of starting the help to park in the starting position of the backward travel P2, the retracting position P3 'to rotate the steering wheel in the opposite direction along the path to the non-final parking position target 102 'can be obtained in a similar way. In other words, the backward turning center C of the vehicle V moving backward from the backward travel start position P2 at a predetermined steering wheel angle is defined as in formulas 19 and 20, and the retraction position P3 'is defined to the position in which the vehicle V aligns longitudinally with the straight line A after moving backwards at a predetermined steering wheel angle to move backwards from the starting position of displacement to back P2 around the center of the backward swing C.
    [0104] After determining a path through the first path calculation processing or the second path calculation processing, the park assist controller 10 first causes a display to guide the vehicle V to move forward from the starting position P1 to the start position for backward travel P2 with the steering wheel in neutral point and does the same. The park assist controller 10 recognizes that vehicle V has reached the start position of backward travel P2 by recognizing that vehicle V has moved by distance d1, based on the steering wheel angle detected by the steering angle sensor 6 and the vehicle speed detected by the vehicle speed sensor 7.
    [0105] Thereafter, the park assist controller 10 recalculates a path from the start-back position P2 to the target non-end park position 102 'through the retract position P3', causes a display to guide the vehicle V to move along the path to the
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    26/33 retraction position P3 'and does the same. For example, the park assist controller 10 displays the steering wheel rotation angle in order to align the actual steering wheel angle to a target steering wheel angle calculated at the start position of the backward travel P2.
    [0106] The parking aid controller 10 recognizes that vehicle V has reached retraction position P3 'based on the steering wheel angle detected by the steering angle sensor 6 and the vehicle speed detected by the vehicle speed sensor 7. Then, the parking assist controller 10 does things such as having a display guide vehicle V to move from the reverse position P3 'to the parallel parking completion position P4' by displaying information to turn the steering wheel. direction in the opposite direction.
    [0107] Thus, when vehicle V is to be parked in parallel in the small space available for parking 101, the parking aid system can guide vehicle V along an ideal path until vehicle V reaches the parking position not target end 102 'even if the park assist system sets target non-end parking position 102' by changing the angle of target end position 102 by processing to define the entry angle and target non-end parking position 102 '.
    [0108] It should be noted that, after calculating the path to the target non-final parking position 102 ', the park assist controller 10 can guide vehicle V by displaying the path on display 3, providing audio guidance of the angles steering wheel and travel directions, or by controlling the steering wheel angle using the steering wheel 4.
    Processing To Calculate Path To Target Parking Position Unchanged 102 [0109] The following is a description of processing to calculate a parking path for vehicle V to move from target non-final parking position 102 'to a point where direction vehicle V becomes parallel to the longitudinal direction of the parking space 101,
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    27/33 help with parking 10.
    [0110] Figure 13 is a diagram showing first processing to guide vehicle V that is tilted only at the entry angle Θ1 with respect to the space available for parking 101, to a position where the orientation of vehicle V is parallel to the space available for parking 101.
    [0111] After vehicle V is stopped in the parallel parking completion position P4 ', the park assist controller 10 guides vehicle V to move forward, with the steering wheel fixed at any given steering wheel angle. direction, to a position P5 along a swing track around the swing center C1 as shown in figure 13 (a). Position P5 is set to a position that allows vehicle V not to come into contact with an obstacle at the front end point P of the parking space 101. Then, as shown in figure 13 (b), the parking aid 10 guides vehicle V to move backwards from position P5 to a position P6 around the center of rotation C2. Then, as shown in figure 13 (c), the park assist controller 10 guides vehicle V to move forward from position P6 to a position P7 around a center of turn C3.
    [0112] In this way, the parking aid controller 10 guides vehicle V to move back and forth repeatedly until vehicle V becomes parallel to the available parking space 101. In the case shown in figure 13, the direction the longitudinal direction of the vehicle V becomes parallel to the longitudinal direction of the available parking space 101 when it is moved forward from position 6 around the turning center C3.
    [0113] It should be noted that, after calculating the path to target parking position 102, the park assist controller 10 can guide vehicle V by displaying the path on display 3, providing audio guidance of steering wheel angles from direction and travel directions, or by controlling the steering wheel angle using the steering wheel 4.
    [0114] Figures 14 and 15 are diagrams showing second processing to guide vehicle V that is tilted only at the angle of entry
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    28/33 of Θ2 with respect to the parking space 101, for a position where the orientation of the vehicle V is parallel to the parking space 101.
    [0115] After vehicle V is stopped in the parallel parking completion position P4 ', the park assist controller 10 guides vehicle V to move forward, with the steering wheel fixed at a certain steering wheel angle. direction, to a position P5 along a swing track around the swing center C1 as shown in figure 14 (a). Position P5 is set to a position that allows vehicle V not to come into contact with an obstacle at the front end point P of the available parking space 101. Then, as shown in figure 14 (b), the parking aid 10 guides the vehicle V to move backwards from position P5 to a position P6 along a straight line C with the steering wheel in neutral. Vehicle V does not come into contact with the rear end of the parking space 101 in position P6.
    [0116] Then, as shown in figure 15 (a), vehicle V is guided to move forward to a position P7 where vehicle V does not come in contact with the front end point P of the parking space 101, when rotating along a turning track around the turning center C1 with the steering wheel fixed at a certain angle of the steering wheel. Then, as shown in figure 15 (b), vehicle V is guided to move straight backwards, with the steering wheel in neutral, to a position P8 where vehicle V does not come into contact with the end part rear of the available parking space 101. In this way, the parking assist controller 10 guides the vehicle V to repeatedly move forward to positions where the vehicle V does not come into contact with the end portion of the available parking space 101 when turning along a turning track and then straight back to positions where vehicle V does not come into contact with the rear edge of the available parking space 101.
    [0117] Thus, as shown in figure 15 (c), finally, the park assist controller 10 can guide vehicle V to a position P9
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    29/33 where the longitudinal direction of the vehicle V is parallel to the longitudinal direction of the available parking space 101 when being moved forward from position P8 while turning.
    [0118] The number of setbacks to make the longitudinal direction of the vehicle V parallel to the longitudinal direction of the parking space 101 is greater in the second processing than in the first processing shown in figure 13. However, as for the distance between the vehicle V and an internal line 101a of the available parking space 101, a distance d11 shown in figure 13 (c) can be made smaller than a distance d12 shown in figure 15 (c).
    [0119] As has been described in detail so far, according to the parking aid system shown as the present mode, target parking position 102 is defined within the available parking space 101. So, in the case where it is determined that the end portion of vehicle V will contact the end portion of the available parking space 101 if vehicle V moves to be parked in target parking position 102, the parking assist system calculates a parking path for vehicle V moves to target non-final parking position 102 'by changing the entry angle with respect to available parking space 101 so that vehicle V can travel to target parking position 102 while maintaining the end of the vehicle V away from the end of the available parking space 101. According to the m this assist system for parking, in the case where it is determined that the end part of the vehicle V will contact the end part of the available parking space 101 if the vehicle V moves to be parked in the target parking position 102 , the angle of target parking position 102 with respect to the available parking space 101 is changed. For this reason, parking assistance can be performed even in a case where it is predicted that the end part of the vehicle V will come into contact with an obstacle.
    [0120] Furthermore, this parking aid system calculates multiple second paths including a path for the vehicle V to travel
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    30/33 to target non-final parking position 102 'when turning and a path for vehicle V to travel straight to target non-final parking position 102'. Thus, this parking aid system can display two types of paths: one in which vehicle V moves when turning and the other in which vehicle V travels straight. In addition, this parking aid system can allow the driver to select which path to use.
    [0121] Furthermore, this parking aid system defines the entry angle Θ1 of the vehicle V with respect to the available parking space 101 so that the trail of the end part of the vehicle V advancing from the target non-final parking position 102 'with a predetermined turning radius can maintain a certain distance from the end part of the available parking space 101. Thus, the vehicle V can be parked by moving backwards while maintaining a certain distance from the end part of the available space for parking. parking 101.
    [0122] In addition, according to this parking aid system, the entry angle Θ2 of the vehicle V with respect to the available parking space 101 is defined so that, in the possible trails of the moving vehicle's end part V straight from the target non-final parking position 102 ', the trail of the vehicle end portion V on the side facing the inside of the available parking space 101 can maintain a certain distance from the end portion of the available parking space 101 Thus, vehicle V can be parked by moving backwards while maintaining a certain distance from the edge of the available parking space 101.
    [0123] Additionally, this parking aid system calculates a parking path for vehicle V to move from target non-final parking position 102 'until the longitudinal direction of vehicle V becomes parallel to the longitudinal direction of the available parking space 101. In this way, even if vehicle V is guided to target non-final parking position 102 ', parking assistance can be performed to guide vehicle V from target non-final parking position 102' until vehicle V becomes parallel to the available parking space 101.
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    31/33 [0124] In addition, this park assist system obtains the start position of the backward travel P2 for vehicle V to start backward travel to the target non-end parking position 102 'and the retraction position P3' to retract the steering wheel to move the vehicle V to the target non-end parking position 102 'after the start of the backward travel from the start of the backward travel position P2. Thus, vehicle V can be guided from the start-back position P2 to the target non-end parking position 102 '.
    [0125] Additionally, this parking aid system calculates the parking path that makes the longitudinal direction of vehicle V, which has been guided to the target non-final parking position 102 ', parallel to the longitudinal direction of the space available for parking 101 when repeatedly moving forward with the steering wheel fixed at a certain angle of the steering wheel and moving backwards with the steering wheel fixed at a certain angle of the steering wheel. Thus, even if vehicle V is guided to the target non-final parking position 102 ', vehicle V can be parked in the target parking position unchanged 102.
    [0126] In addition, this parking aid system calculates the parking path that makes the longitudinal direction of vehicle V, which has been guided to the target non-final parking position 102 ', become parallel to the longitudinal direction of the space available for parking 101 by repeatedly moving forward with the steering wheel fixed at a certain angle of the steering wheel and moving backwards with the angle of the steering wheel in neutral. Thus, even if vehicle V is guided to target non-final parking position 102 ', vehicle V can be parked in target parking position 102.
    [0127] It should be noted that the embodiment described above is an example of the present invention. Therefore, of course the present invention is not limited to the modality indicated above, and can be changed variably to modes other than the modality indicated above according to a project or the like without departing from the technical concept of the present invention.
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    32/33 [0128] In the mode described above, the available parking space detection device to detect available parking space corresponds to the function of the parking assist controller 10 to define the available parking space 101 and the processing to define the available parking space 101 in Step S1. The target final parking position setting device for defining a target final parking position corresponds to the function of the park assist controller 10 to define target parking position 102 and the processing to define target parking position 102 in Step S1 . The contact determination device for determining whether or not there is a first path for a vehicle V to reach the target final parking position 102 without contacting an end part of the available parking space 101 corresponds to the function of the help controller for park 10 to determine whether or not an end portion of vehicle V will contact the front end point P and process in Step S2. The target non-final parking position calculation device for calculating, when the contact determination device determines that the first path does not exist, an entry angle and a target non-final parking position 102 ', the entry angle enabling the vehicle V to enter the available parking space 101 without contacting the end part of the available parking space 101, the target non-final parking position 102 'being a position to be reached when vehicle V enters the available parking space for parking 101 when using the entry angle, corresponds to the function of the help controller to park 10 to define the entry angles θ1, Θ2 and the target non-final parking position 102 'as well as processing in Step S5. The second path calculation device for calculating a second path for vehicle V to reach the target non-final parking position 102 'calculated by the target non-final parking position calculation device corresponds to the function of the park assist controller 10 to calculate a path from the starting position P1 to the completion position of parallel parking P4 'and processing in Step S6. The third-path calculation device for
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    33/33 calculating a third path for vehicle V to reach target final parking position 102 from target non-final parking position 102 'corresponds to the processing in which the park assist controller 10 calculates a path from the non-parking position target end 102 'to target end parking position 102 as shown in figures 13 to 16. The display device for displaying the first path when the contact determination device determines that the first path exists, and for displaying the second path and the third path when the contact determination device determines that the first path does not exist, corresponds to the processing in which the display 3 shows a path when being controlled by the help controller to park 10 and the processing in Step S4.
    Industrial applicability [0129] The present invention may be usable in the parking aid apparatus industry configured to present a driver with information for parking a vehicle.
    List of reference symbols
    1a to 1d vehicle mounted camera
    2a, 2b ultrasonic sonar display steering trigger operating input device steering angle sensor vehicle speed sensor controller help parking
    101 parking space available
    102 target parking position
    102 'target non-end parking position
    103 vehicle end path
    P1 starting position
    P2 backward start position
    P3 reverse position
    P4 parking completion position in parallel
    权利要求:
    Claims (10)
    [1]
    1. Parking aid apparatus comprising:
    parking space detection device (2a, 2b) for detecting available parking space (101);
    target end parking position setting device (10) for defining target end parking position in the available parking space (101) detected by the available parking space detection device (2a, 2b) (101);
    contact determination device (10) to determine whether or not there is a first path (103) for a vehicle to reach the final target parking position (102) without contacting an end portion of the available parking space (101) ;
    CHARACTERIZED by the fact that the target non-final parking position calculation device (10) for, when the contact determination device (10) determines that the first path (103) does not exist, calculate an entry angle (Θ1, Θ2) and a target non-final parking position (102 '), the entry angle (Θ1, Θ2) enabling the vehicle to enter the available parking space (101) when traveling straight without contacting the end portion of the available space for parking (101), the target non-final parking position (102 ') being a position to be reached when the vehicle enters the available parking space (101) at the entry angle (Θ1, Θ2);
    second path calculation device (10) for calculating a second path for the vehicle to reach the target non-final parking position (102 ') calculated by the target non-final parking position calculation device (10) when traveling straight;
    third path calculation device (10) for calculating a third path for the vehicle to reach the target end parking position (102) from the target non-end parking position (102 '); and display device (3) for displaying the first path (103) when the contact determination device (10) determines that the first path (103) exists, and for displaying the second path and third path when the determination device contact (10) determines that the first path
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    [2]
    2/4 (103) does not exist.
    2. Parking assist device according to claim 1, CHARACTERIZED by the fact that, as the entry angle (θ1, Θ2), the target non-final parking position calculation device (10) calculates a parking angle entrance (Θ1, Θ2) that enables the vehicle to enter the available parking space (101) when traveling with a steering wheel in a substantially neutral position, without coming into contact with the end part of the available parking space (101) and, like the second path, the second path calculation device (10) calculates a path for the vehicle to reach the target non-final parking position (102 ') when traveling with the steering wheel in the substantially neutral point.
    [3]
    Parking aid apparatus according to claim 1 or 2, CHARACTERIZED by the fact that the second path calculation device (10) calculates a plurality of second paths, including a path for the vehicle to move to the position target non-final parking (102 ') when turning and a path for the vehicle to travel straight to the target non-final parking position (102').
    [4]
    4. Parking aid apparatus according to claim 1 or 2, CHARACTERIZED by the fact that the target non-final parking position calculation device (10) defines the entry angle (Θ1) so that a trail of an end portion of the vehicle moving forward from the target non-final parking position (102 ') with a predetermined turning radius maintains a certain distance from the end portion of the available parking space (101).
    [5]
    5. Parking aid apparatus according to claim 1 or 2, CHARACTERIZED by the fact that the target non-final parking position calculation device (10) defines the entry angle (Θ2) so that a trail of a vehicle end part moving straight back from the target non-end parking position (102 ') maintain a certain distance from the end part 870190107646, from 10/23/2019, pg. 43/46
    3/4 of the available parking space (101).
    [6]
    6. Parking aid apparatus, according to claim 1 or 2, CHARACTERIZED by the fact that the second path calculation device (10) obtains:
    a backward start position (P2) for the vehicle to start backward travel to the target non-final parking position (102 ') calculated by the target non-final parking position calculation device (10); and a retraction position (P3) so that, after the vehicle starts to move backwards from the position of start of reverse travel (P2), to retract the steering wheel in an opposite direction to move the vehicle to the non-parking position target end (102 ').
    [7]
    7. Parking aid apparatus according to claim 1, CHARACTERIZED by the fact that the third-path calculation device (10) calculates the third path for the vehicle to repeatedly move forward with the steering wheel fixed to a certain steering wheel angle and move backwards with the steering wheel fixed at a certain steering wheel angle, so that a longitudinal direction of the vehicle becomes parallel to a longitudinal direction of the available parking space (101).
    [8]
    8. Parking aid apparatus according to claim 1 or 2, CHARACTERIZED by the fact that the third-path calculation device (10) calculates the third path for the vehicle to repeatedly move forward with the steering wheel fixed at a certain steering wheel angle and move backwards with the steering wheel at a neutral point steering wheel angle, so that a longitudinal direction of the vehicle becomes parallel to a longitudinal direction of the available parking space ( 101).
    [9]
    9. Parking aid method comprising:
    detecting an available parking space (101), and defining a target final parking position in the available parking space (101);
    determine whether or not there is a first path (103) for a vehicle
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    4/4 reaching the target final parking position (102) without contacting an end part of the available parking space (101);
    CHARACTERIZED by the fact that:
    when the first path (103) exists, display the first path (103);
    when the first path (103) does not exist, calculate an entry angle (Θ1, Θ2) and a target non-final parking position, the entry angle (Θ1, Θ2) enabling the vehicle to enter the available parking space (101 ) when traveling straight without coming into contact with the end part of the available parking space (101), the target non-final parking position (102 ') being a position to be reached when the vehicle enters the available parking space (101 ) at the entry angle (Θ1, Θ2), calculate a second path for the vehicle to reach the target non-final parking position (102 ') when traveling straight and a third path for the vehicle to reach the target final parking position (102) from the target non-final parking position (102 '), and display the second and third paths.
    [10]
    10. Parking aid method according to claim 9, CHARACTERIZED by the fact that it comprises:
    as the entry angle, calculate an entry angle (Θ1, Θ2) that enables the vehicle to enter the available parking space (101) when moving with a steering wheel in a substantially neutral position, without coming into contact with the end portion of the available parking space (101) and, as the second path, calculate a path for the vehicle to reach the target non-final parking position (102 ') when moving with the steering wheel in the substantially neutral point.
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    公开号 | 公开日
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    MY164070A|2017-11-15|
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    MX336660B|2016-01-27|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-07-30| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2019-12-24| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-02-18| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/05/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2010134040|2010-06-11|
    JP2010-134040|2010-06-11|
    PCT/JP2011/062234|WO2011155349A1|2010-06-11|2011-05-27|Parking assistance device and method|
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